/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (C) 2010-2012 Ken Tossell
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the author nor other contributors may be
 *     used to endorse or promote products derived from this software
 *     without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
#include <stdio.h>
#include <opencv/highgui.h>

#include "libuvc/libuvc.h"

void cb (uvc_frame_t *frame, void *ptr)
{
        uvc_frame_t *bgr;
        uvc_error_t ret;
        IplImage* cvImg;

        printf ("callback! length = %u, ptr = %d\n", frame->data_bytes, (int) ptr);

        bgr = uvc_allocate_frame (frame->width * frame->height * 3);
        if (!bgr) {
                printf ("unable to allocate bgr frame!");
                return;
        }

        ret = uvc_any2bgr (frame, bgr);
        if (ret) {
                uvc_perror (ret, "uvc_any2bgr");
                uvc_free_frame (bgr);
                return;
        }

        cvImg = cvCreateImageHeader (cvSize (bgr->width, bgr->height), IPL_DEPTH_8U, 3);

        cvSetData (cvImg, bgr->data, bgr->width * 3);

        cvNamedWindow ("Test", CV_WINDOW_AUTOSIZE);
        cvShowImage ("Test", cvImg);
        cvWaitKey (10);

        cvReleaseImageHeader (&cvImg);

        uvc_free_frame (bgr);
}

int main (int argc, char **argv)
{
        uvc_context_t *ctx;
        uvc_error_t res;
        uvc_device_t *dev;
        uvc_device_handle_t *devh;
        uvc_stream_ctrl_t ctrl;

        res = uvc_init (&ctx, NULL);

        if (res < 0) {
                uvc_perror (res, "uvc_init");
                return res;
        }

        puts ("UVC initialized");

        res = uvc_find_device (ctx, &dev, 0, 0, NULL);

        if (res < 0) {
                uvc_perror (res, "uvc_find_device");
        }
        else {
                puts ("Device found");

                res = uvc_open (dev, &devh);

                if (res < 0) {
                        uvc_perror (res, "uvc_open");
                }
                else {
                        puts ("Device opened");

                        uvc_print_diag (devh, stderr);

                        res = uvc_get_stream_ctrl_format_size (devh, &ctrl, UVC_COLOR_FORMAT_UNCOMPRESSED, 640, 480, 30);

                        uvc_print_stream_ctrl (&ctrl, stderr);

                        if (res < 0) {
                                uvc_perror (res, "get_mode");
                        }
                        else {
                                res = uvc_start_iso_streaming (devh, &ctrl, cb, 12345);

                                if (res < 0) {
                                        uvc_perror (res, "start_streaming");
                                }
                                else {
                                        puts ("Streaming for 10 seconds...");
                                        uvc_error_t resAEMODE = uvc_set_ae_mode (devh, 1);
                                        uvc_perror (resAEMODE, "set_ae_mode");
//                                        int i;
//                                        for (i = 1; i <= 10; i++) {
//                                                /* uvc_error_t resPT = uvc_set_pantilt_abs(devh, i * 20 * 3600, 0); */
//                                                /* uvc_perror(resPT, "set_pt_abs"); */
//                                                uvc_error_t resEXP = uvc_set_exposure_abs (devh, 20 + i * 5);
//                                                uvc_perror (resEXP, "set_exp_abs");
//
//                                                sleep (1);
//                                        }

                                        uvc_error_t resEXP = uvc_set_exposure_abs (devh, 156);
                                        uvc_perror (resEXP, "set_exp_abs");

                                        sleep (10);
                                        uvc_stop_streaming (devh);
                                        puts ("Done streaming.");
                                }
                        }

                        uvc_close (devh);
                        puts ("Device closed");
                }

                uvc_unref_device (dev);
        }

        uvc_exit (ctx);
        puts ("UVC exited");

        return 0;
}

